SE541529C2 - Method and system for shifting between manual and autonomous drive operation modes in vehicles - Google Patents

Method and system for shifting between manual and autonomous drive operation modes in vehicles

Info

Publication number
SE541529C2
SE541529C2 SE1751365A SE1751365A SE541529C2 SE 541529 C2 SE541529 C2 SE 541529C2 SE 1751365 A SE1751365 A SE 1751365A SE 1751365 A SE1751365 A SE 1751365A SE 541529 C2 SE541529 C2 SE 541529C2
Authority
SE
Sweden
Prior art keywords
operation mode
vehicle
shifting
drive operation
road
Prior art date
Application number
SE1751365A
Other versions
SE1751365A1 (en
Inventor
Joel Huselius
Johannes Slettengren
Original Assignee
Scania Cv Ab
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Scania Cv Ab filed Critical Scania Cv Ab
Priority to SE1751365A priority Critical patent/SE541529C2/en
Priority to PCT/SE2018/051049 priority patent/WO2019088893A1/en
Publication of SE1751365A1 publication Critical patent/SE1751365A1/en
Publication of SE541529C2 publication Critical patent/SE541529C2/en

Links

Classifications

    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/0055—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots with safety arrangements
    • G05D1/0061—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots with safety arrangements for transition from automatic pilot to manual pilot and vice versa
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/08—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to drivers or passengers
    • B60W40/09—Driving style or behaviour
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/10—Path keeping
    • B60W30/12—Lane keeping
    • B—PERFORMING OPERATIONS; TRANSPORTING
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    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
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    • B—PERFORMING OPERATIONS; TRANSPORTING
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    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/14—Adaptive cruise control
    • B60W30/143—Speed control
    • B—PERFORMING OPERATIONS; TRANSPORTING
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    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/18—Propelling the vehicle
    • B60W30/182—Selecting between different operative modes, e.g. comfort and performance modes
    • B—PERFORMING OPERATIONS; TRANSPORTING
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    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
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    • B—PERFORMING OPERATIONS; TRANSPORTING
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    • B—PERFORMING OPERATIONS; TRANSPORTING
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    • B60W50/16—Tactile feedback to the driver, e.g. vibration or force feedback to the driver on the steering wheel or the accelerator pedal
    • B—PERFORMING OPERATIONS; TRANSPORTING
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    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W60/00—Drive control systems specially adapted for autonomous road vehicles
    • B60W60/005—Handover processes
    • B—PERFORMING OPERATIONS; TRANSPORTING
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    • B60W60/00—Drive control systems specially adapted for autonomous road vehicles
    • B60W60/005—Handover processes
    • B60W60/0051—Handover processes from occupants to vehicle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W60/00—Drive control systems specially adapted for autonomous road vehicles
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    • B60W60/0053—Handover processes from vehicle to occupant
    • B—PERFORMING OPERATIONS; TRANSPORTING
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    • B60W60/00—Drive control systems specially adapted for autonomous road vehicles
    • B60W60/005—Handover processes
    • B60W60/0053—Handover processes from vehicle to occupant
    • B60W60/0055—Handover processes from vehicle to occupant only part of driving tasks shifted to occupants
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/20—Control system inputs
    • G05D1/24—Arrangements for determining position or orientation
    • G05D1/247—Arrangements for determining position or orientation using signals provided by artificial sources external to the vehicle, e.g. navigation beacons
    • G05D1/248—Arrangements for determining position or orientation using signals provided by artificial sources external to the vehicle, e.g. navigation beacons generated by satellites, e.g. GPS
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
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    • G05D1/20—Control system inputs
    • G05D1/24—Arrangements for determining position or orientation
    • G05D1/247—Arrangements for determining position or orientation using signals provided by artificial sources external to the vehicle, e.g. navigation beacons
    • G05D1/249—Arrangements for determining position or orientation using signals provided by artificial sources external to the vehicle, e.g. navigation beacons from positioning sensors located off-board the vehicle, e.g. from cameras
    • G—PHYSICS
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    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
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    • G05D1/43—Control of position or course in two dimensions
    • G—PHYSICS
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    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
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    • G08G1/01—Detecting movement of traffic to be counted or controlled
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    • B—PERFORMING OPERATIONS; TRANSPORTING
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    • B—PERFORMING OPERATIONS; TRANSPORTING
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    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
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    • B60Y—INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
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    • G05D2111/60—Combination of two or more signals

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  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Human Computer Interaction (AREA)
  • General Physics & Mathematics (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Remote Sensing (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Mathematical Physics (AREA)
  • Analytical Chemistry (AREA)
  • Chemical & Material Sciences (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
  • Traffic Control Systems (AREA)

Abstract

The present invention relates to a method for facilitating safely controlling vehicle operation of a vehicle. Said vehicle operation comprises a manual drive operation mode, an assisted drive operation mode and autonomous drive operation mode. The method comprises the step of shifting (MS1, MS2, MS3, MS4) between manual drive operation mode and autonomous drive operation mode by means of a mode selection actuator arrangement, said shifting step being performed according to an escalating/deescalating scale of vehicle operation mode functionality in so far that said mode selection actuator arrangement is configured such that said shifting (MS1, MS2, MS3, MS4) always is performed via said assisted drive operation mode.The present invention also relates to a system for facilitating safely controlling vehicle operation. The present invention also relates to a vehicle.

Description

METHOD AND SYSTEM FOR SHIFTING BETWEEN MANUAL AND AUTONOMOUS DRIVE OPERATION MODES IN VEHICLES TECHNICAL FIELD The invention relates to a method for facilitating safely controlling vehicle operation. The invention also relates to a system for facilitating safely controlling vehicle operation. The invention also relates to a vehicle.
BACKGROUND ART Vehicle operation of vehicles such as commercial vehicles in the form of heavy trucks is becoming more and more advanced with regard to driver assistance aiming at helping the driver of the vehicle to drive safely and easily. Examples of advanced driver assistance support is adaptive cruise control, automatic emergency brake and lane keep assist. As an evolutionary quantum leap in this direction, pilot functions are aimed at driving vehicles autonomously, i.e. under an autonomous drive operation mode.
Currently, pilot functions cannot be expected to work in all areas and under all circumstances.
WO2013117313 discloses a driver assistance system for a motor vehicle wherein the drive can choose between a plurality of assistance modes which differ from each other in degree of autonomy of the driver assistance system when the motor vehicle is driven.
There is however a need for facilitating safely controlling vehicle operation when shifting between manual drive and autonomous drive.
OBJECTS OF THE INVENTION An object of the present invention is to provide a method for facilitating safely controlling vehicle operation when shifting between manual drive operation mode and autonomous drive operation mode.
Another object of the present invention is to provide a system for facilitating safely controlling vehicle operation when shifting between manual drive operation mode and autonomous drive operation mode.
SUMMARY OF THE INVENTION These and other objects, apparent from the following description, are achieved by a method, a system and a vehicle, as set out in the appended independent claims. Preferred embodiments of the method and system defined in appended dependent claims.
Specifically an object of the invention is achieved by a method for facilitating safely controlling vehicle operation of a vehicle. Said vehicle operation comprises a manual drive operation mode, an assisted drive operation mode and autonomous drive operation mode. The method comprises the step of shifting between manual drive operation mode and autonomous drive operation mode by means of a mode selection actuator arrangement, said shifting step being performed according to an escalating/deescalating scale of vehicle operation mode functionality in so far that said mode selection actuator arrangement is configured such that said shifting always is performed via said assisted drive operation mode.
By thus performing said shifting between manual drive operation mode and autonomous drive operation mode by means of said mode selection actuator arrangement such that said shifting always is performed via said assisted drive operation mode a safe control of the vehicle operation is obtained in an efficient way.
The step of shifting between drive operation modes comprises the step of determining a requested shifting.
Autonomous drive operation mode may also be denoted piloted drive operation mode.
Said mode selection actuator arrangement may be any suitable mode selection actuator arrangement configured to control shifting between said different drive operation modes. Said mode selection actuator arrangement may comprise one or more mode selection actuators. Said mode selection actuator arrangement may comprise any suitable kind of switches, levers, touch buttons, regulators, interlock configurations, dual command configurations or the like.
According to an embodiment the method comprises the step of, prior to performing shifting to a requested operation mode, determining by determining means if certain predetermined requirements are fulfilled. By thus determining if certain predetermined requirements are fulfilled prior to allowing shifting to a requested operation mode safety may be improved in that shifting may be controlled such that a requested shifting is only allowed if certain predetermined requirements are fulfilled.
Said certain predetermined requirements for allowing shifting to a requested operation mode may comprise certain vehicle functions being operable such as function of vehicle sensors for assisting in vehicle operation such as cameras, radars, laser scanners and/or vehicle functions relevant for vehicle operation such as vehicle lights, stabilizing system of the vehicle, vehicle brakes, steering actuators, vehicle engine, cooling system, suspension system etc. The step of determining if certain predetermined requirements are fulfilled may thus comprise determining vehicle function status by means of vehicle status determination means such as means for determining function of vehicle sensors, and means for determining function of other vehicle functions such as vehicle lights, stabilizing system of the vehicle, brakes, steering actuators, engine, cooling system, suspension system etc.
Said certain predetermined requirements for allowing shifting to a requested operation mode may comprise existence of road marks along the road on which the vehicle is travelling. Said road marks may be marks on the road such as marks for dividing the road into lanes and marks on the road for marking side of the road. Said road marks may be posts or the like arranged on the side of the road. The step of determining if certain predetermined requirements are fulfilled may thus comprise determining road marks along the road, i.e. whether road marks exists along the road. The step of determining road marks may be performed by any suitable means for determining road marks such as on board sensors, e.g. cameras, laser scanners and/or radars.
Said certain predetermined requirements for allowing shifting to a requested operation mode may comprise correct vehicle position. Vehicle position may comprise vehicle position on the road comprising whether the vehicle is within a lane or crossing a line of a lane and/or geographical position comprising on which road and road type the vehicle is travelling. The step of determining vehicle position may be performed by means of any suitable sensor on board the vehicle comprising one or more cameras, laser scanners or the like. The step of determining vehicle position may be performed by means of a Global Navigation Satellite System, GNSS, e.g. a global positioning system, GPS, for determining the geographical position of the vehicle comprising position along the road and road type. Said certain predetermined requirements may thus comprise road type. Thus, certain vehicle position need to be fulfilled for allowing shifting to a requested operation mode.
Said certain predetermined requirements for allowing shifting to a requested operation mode may comprise external conditions in connection to the vehicle travelling along a road. External conditions may comprise weather conditions, road conditions and/or traffic conditions. The step of determining external conditions may be performed by means of any suitable means for determining external conditions comprising any suitable weather sensors, sensors for determining road conditions and sensors for determining traffic conditions. Thus, certain external conditions need to be fulfilled for allowing shifting to a requested operation mode.
Said certain predetermined requirements for allowing shifting to a requested operation mode may comprise state of driver. The step of determining state of driver may comprise any suitable sensor for detecting awareness of driver, whether driver is sleeping or the like.
According to an embodiment the method comprises the step of performing shifting to said requested operation mode if said certain predetermined requirements are determined to be fulfilled.
Thus a shifting performance to said requested operation mode is allowed if said certain predetermined requirements are determined to be fulfilled.
The certain predetermined requirements that need to be fulfilled may depend on to which drive operation mode shifting is requested to be performed. Thus, said certain predetermined requirements for allowing shifting to another drive operation mode may depend on from which drive operation mode to which drive operation mode said requested shifting relates to. Thus, the predetermined requirements may differ depending on the requested shifting to a certain drive operation mode.
The method thus comprises the step of determining requested shifting operation. The step of determining requested shifting operation comprises determining from which drive operation mode to which drive operation mode shifting has been requested.
The step of performing shifting to said requested operation mode if said certain predetermined requirements are determined to be fulfilled is arranged to allow a certain shifting depending on which of said certain predetermined requirement that are determined to be fulfilled.
According to an embodiment a shifting from manual drive operation mode to assisted drive operation mode may require that less certain predetermined requirements are fulfilled than a shifting from assisted drive operation mode to autonomous drive operation mode.
According to an embodiment a shifting to manual drive operation mode may require a certain driver awareness.
According to an embodiment the method comprises the step of denying said shifting request if said certain predetermined requirements are determined not to be fulfilled. By thus denying said shifting request if said certain predetermined requirements are determined not to be fulfilled safety is further improved.
Thus a shifting performance to said requested operation mode is denied if said certain predetermined requirements are determined not to be fulfilled.
The step of denying said shifting request if said certain predetermined requirements are determined not to be fulfilled is arranged to deny a certain shifting depending on which of said certain predetermined requirement that are determined not to be fulfilled.
The step of denying said shifting request if said certain predetermined requirements are determined not to be fulfilled comprises the step of informing driver of said shifting request being denied. The step of informing driver of said shifting request being denied may be performed by means of any suitable means for informing driver of said shifting request being denied, comprising visual means for visual information and/or sound means for audible information and/or tactile means for tactile information. Said visual means may comprise a display unit e.g. on the instrument panel or the like. Said sound means may comprise a voice message, an alarm or the like. Said tactile means may comprise vibrations in driver seat, steering wheel or the like.
According to an embodiment the method comprises the step of determining if certain predetermined requirements for a current drive operation mode are fulfilled; and, if said certain predetermined requirements for a current drive operation mode are not fulfilled, automatically safely stop said vehicle. By thus automatically safely stop said vehicle if certain predetermined requirements for the current operation are determined not to be fulfilled safety is further improved. For example, if the vehicle is driving in an autonomous driving mode and certain requirements change, e.g. the type of road changes from a road on which autonomous drive operation mode is allowed to a road on which autonomous drive operation mode is not allowed, and driver is not in a state to take over control of the vehicle, the vehicle will hereby be safely automatically stopped.
Said certain predetermined requirements for a current drive operation mode may comprise one or more of said certain predetermined requirements for allowing shifting to a requested operation mode.
Said certain predetermined requirements to be fulfilled for a current drive operation mode may comprise certain vehicle functions such as function of vehicle sensors for assisting in vehicle operation such as cameras, radars, laser scanners and/or vehicle functions relevant for vehicle operation such as vehicle lights, stabilizing system of the vehicle, vehicle brakes, steering actuators, vehicle engine, cooling system, suspension system etc. The step of determining if certain predetermined requirements are fulfilled may thus comprise determining vehicle function status by means of vehicle status determination means such as means for determining function of vehicle sensors, and means for determining function of other vehicle functions such as vehicle lights, stabilizing system of the vehicle, brakes, steering actuators, engine, cooling system, suspension system etc. Thus, certain vehicle functions need to be fulfilled for a current drive operation mode.
Said certain predetermined requirements to be fulfilled for a current drive operation mode may comprise existence of road marks along the road on which the vehicle is travelling. Said road marks may be marks on the road such as marks for dividing the road into lanes and marks on the road for marking side of the road. Said road marks may be posts or the like arranged on the side of the road. The step of determining if certain predetermined requirements are fulfilled may thus comprise determining road marks along the road, i.e. whether road marks exists along the road. The step of determining road marks may be performed by any suitable means for determining road marks such as on board sensors, e.g. cameras, laser scanners and/or radars.
Said certain predetermined requirements to be fulfilled for a current drive operation mode may comprise vehicle position. Vehicle position may comprise vehicle position on the road comprising whether the vehicle is within a lane or crossing a line of a lane and/or geographical position comprising on which road and road type the vehicle is travelling. The step of determining vehicle position may be performed by means of any suitable sensor on board the vehicle comprising one or more cameras, laser scanners or the like. The step of determining vehicle position may be performed by means of a Global Navigation Satellite System, GNSS, e.g. a global positioning system, GPS, for determining the geographical position of the vehicle comprising position along the road and road type. Said certain predetermined requirements may thus comprise road type. Thus, certain external conditions need to be fulfilled for a current drive operation mode.
Said certain predetermined requirements to be fulfilled for a current drive operation mode may comprise external conditions in connection to the vehicle travelling along a road. External conditions may comprise weather conditions, road conditions and/or traffic conditions. The step of determining external conditions may be performed by means of any suitable means for determining external conditions comprising any suitable weather sensors, sensors for determining road conditions and sensors for determining traffic conditions. Thus, certain vehicle position needs to be fulfilled for a current drive operation mode.
Said certain predetermined requirements to be fulfilled for a current drive operation mode may comprise state of driver. The step of determining state of driver may comprise any suitable sensor for detecting awareness of driver, whether driver is sleeping or the like.
Specifically an object of the invention is achieved by a system for facilitating safely controlling vehicle operation. Said vehicle operation comprises a manual drive operation mode, an assisted drive operation mode and autonomous drive operation mode. The system comprises a mode selection actuator arrangement arranged for shifting between manual drive operation mode and autonomous drive operation mode. Said mode selection actuator arrangement is configured such that said shifting is arranged to be performed according to an escalating/deescalating scale of vehicle operation mode functionality in so far that said mode selection actuator arrangement is configured such that said shifting always is arranged to be performed via said assisted drive operation mode.
According to an embodiment the system comprises determining means arranged to determine if certain predetermined requirements are fulfilled prior to performing shifting to a requested operation mode.
According to an embodiment the system comprises means for allowing shifting to said requested operation mode if said certain predetermined requirements are determined to be fulfilled.
According to an embodiment the system comprises means for denying said shifting request if said certain predetermined requirements are determined not to be fulfilled.
According to an embodiment the system comprises means for determining if certain predetermined requirements for a current drive operation mode are fulfilled; and means for automatically safely stop said vehicle if said certain predetermined requirements for a current drive operation mode are not fulfilled.
The system for facilitating safely controlling vehicle operation is adapted to perform the method as set out herein.
The system according to the invention has the advantages according to the corresponding method.
Specifically an object of the invention is achieved by a vehicle comprising a system as set out herein.
BRIEF DESCRIPTION OF THE DRAWINGS For a better understanding of the present invention reference is made to the following detailed description when read in conjunction with the accompanying drawings, wherein like reference characters refer to like parts throughout the several views, and in which: Fig. 1 schematically illustrates a side view of a vehicle according to the present invention; Fig. 2 schematically illustrates shifting between drive operation modes for controlling vehicle operation according to an embodiment of the present invention; Fig. 3 schematically illustrates a block diagram of the method for facilitating safely controlling vehicle operation according to an embodiment of the present invention; and Fig. 4 schematically illustrates a block diagram of a system for facilitating safely controlling vehicle operation according to an embodiment of the present invention.
DETAILED DESCRIPTION Hereinafter the term “link” refers to a communication link which may be a physical connector, such as an optoelectronic communication wire, or a nonphysical connector such as a wireless connection, for example a radio or microwave link.
Hereinafter the term “mode selection actuator arrangement” refers to any suitable selection actuator arrangement configured to control shifting between different drive operation modes. Said mode selection actuator arrangement may comprise one or more mode selection actuators. Said mode selection actuator arrangement may comprise any suitable kind of switches, levers, touch buttons, regulators, interlock configurations, dual command configurations or the like.
Fig. 1 schematically illustrates a side view of a vehicle V according to the present invention. The exemplified vehicle V is a commercial vehicle in the shape of a truck. The vehicle according to the present invention could be any suitable vehicle such as a bus or a car. The vehicle V comprises a system I for facilitating safely controlling vehicle operation according to the present invention. The vehicle V comprises a mode selection actuator arrangement 110 arranged for shifting between manual drive operation mode and autonomous drive operation mode according to the present invention.
Fig. 2 schematically illustrates shifting between drive operation modes for controlling vehicle operation according to an embodiment of the present invention.
Shifting between drive operation modes as schematically illustrated in fig. 2 may be performed by means of a method for facilitating safely controlling vehicle operation according to an embodiment of the present invention, e.g. the method described with reference to fig. 3.
Shifting between drive operation modes as schematically illustrated in fig. 2 may be performed by means of a system for facilitating safely controlling vehicle operation according to an embodiment of the present invention, e.g. the system I described with reference to fig. 4.
Said vehicle operation comprises a manual drive operation mode, an assisted drive operation mode and autonomous drive operation mode. Fig. 2 illustrates shifting between said drive operation modes.
Shifting between manual drive operation mode and autonomous drive operation mode is performed by means of a mode selection actuator arrangement according to an escalating/deescalating scale of vehicle operation mode functionality in so far that said mode selection actuator arrangement is configured such that said shifting always is performed via said assisted drive operation mode.
Thus, shifting between said drive operation modes is performed based on a requested for shifting to an operation mode. Thus, a request for shifting to an operation mode is received. Said request may be driver initiated via said mode selection actuator arrangement.
In fig. 2 a first mode shift MS1 shifting from assisted drive operation mode to manual drive operation mode, a second mode shift MS2 shifting from manual drive operation mode to assisted drive operation mode, a third mode shift MS3 shifting from autonomous drive operation mode to assisted drive operation mode and a fourth mode shift MS4 shifting from assisted drive operation mode to autonomous drive operation mode are illustrated. Thus said mode selection actuator arrangement is configured such that said shifting always is performed via said assisted drive operation mode.
For example, a request to manual drive operation mode when driving in autonomous drive operation mode will initially result in a mode shift MS3 shifting from autonomous drive operation mode to assisted drive operation mode and then in a mode shift MS1 shifting from assisted drive operation mode to manual drive operation mode.
Prior to performing shifting to a requested operation mode it is determined if certain predetermined requirements are fulfilled. Said certain predetermined requirements may depend on whether a first mode shift MS1 shifting from assisted drive operation mode to manual drive operation mode, a second mode shift MS2 shifting from manual drive operation mode to assisted drive operation mode, a third mode shift MS3 shifting from autonomous drive operation mode to assisted drive operation mode or a fourth mode shift MS4 shifting from assisted drive operation mode to autonomous drive operation mode is to be realized based on said requested operation mode.
Shifting from manual drive operation mode to assisted drive operation mode according to mode shift MS2 may require certain vehicle functions to be operable for allowing assisted drive such as adaptive cruise control, automatic emergency brake and lane keep assist. Mode shift MS2 may require certain vehicle position such as vehicle being placed within a lane. Mode shift MS2 may require certain external conditions such as certain road conditions, certain weather conditions and certain traffic conditions.
Shifting from assisted drive operation mode to autonomous drive operation mode according to mode shift MS4 may require at least that the certain predetermined requirements for mode shift MS3 are fulfilled, i.e. certain vehicle functions to be operable for allowing assisted drive such as adaptive cruise control, automatic emergency brake and lane keep assist, certain vehicle position such as vehicle being placed within a lane, and certain external conditions such as certain road conditions, certain weather conditions and certain traffic conditions. Shifting from assisted drive operation mode to autonomous drive operation mode according to mode shift MS4 may in addition require even more strict predetermined requirements to be fulfilled such as certain road type.
Shifting from autonomous drive operation mode to assisted drive operation mode according to mode shift MS3 may require certain driver awareness comprising e.g. a confirmation from the driver. Mode shift MS3 may require certain vehicle position such as vehicle being placed within a lane.
Shifting from assisted drive operation mode to manual drive operation mode according to mode shift MS1 may require a certain driver awareness which is more strict than for mode shift MS3, comprising in addition to a confirmation from the driver, the driver being in certain control such as having hands on the steering wheel. Mode shift MS1 may require certain vehicle position such as vehicle being placed within a lane.
If said certain predetermined requirements for the respective mode shifts MS1, MS2, MS3, MS4 are determined not to be fulfilled said shifting request is denied.
Such certain predetermined requirements and how they may be determined are described in more detail with reference to fig. 3 and fig. 4.
Fig. 3 schematically illustrates a block diagram of the method for facilitating safely controlling vehicle operation according to an embodiment of the present invention.
Said vehicle operation comprises a manual drive operation mode, an assisted drive operation mode and autonomous drive operation mode.
According to the embodiment the method for facilitating safely controlling vehicle operation comprises a step S1. In this step shifting between manual drive operation mode and autonomous drive operation mode by means of a mode selection actuator arrangement is performed according to an escalating/deescalating scale of vehicle operation mode functionality in so far that said mode selection actuator arrangement is configured such that said shifting always is performed via said assisted drive operation model The step of shifting between drive operation modes comprises the step of determining a requested shifting.
Said mode selection actuator arrangement may be any suitable mode selection actuator arrangement configured to control shifting between said different drive operation modes. Said mode selection actuator arrangement may comprise, be comprised in or be connected to control means for controlling control shifting between said different drive operation modes.
According to an embodiment the method comprises the step of, prior to performing shifting to a requested operation mode, determining by determining means if certain predetermined requirements are fulfilled.
Said certain predetermined requirements for allowing shifting to a requested operation mode may comprise certain vehicle functions being operable such as function of vehicle sensors for assisting in vehicle operation such as cameras, radars, laser scanners and/or vehicle functions relevant for vehicle operation such as vehicle lights, stabilizing system of the vehicle, vehicle brakes, steering actuators, vehicle engine, cooling system, suspension system etc. The step of determining if certain predetermined requirements are fulfilled may thus comprise determining vehicle function status by means of vehicle status determination means such as means for determining function of vehicle sensors, and means for determining function of other vehicle functions such as vehicle lights, stabilizing system of the vehicle, brakes, steering actuators, engine, cooling system, suspension system etc.
Said certain predetermined requirements for allowing shifting to a requested operation mode may comprise existence of road marks along the road on which the vehicle is travelling. Said road marks may be marks on the road such as marks for dividing the road into lanes and marks on the road for marking side of the road. Said road marks may be posts or the like arranged on the side of the road. The step of determining if certain predetermined requirements are fulfilled may thus comprise determining road marks along the road, i.e. whether road marks exists along the road. The step of determining road marks may be performed by any suitable means for determining road marks such as on board sensors, e.g. cameras, laser scanners and/or radars.
Said certain predetermined requirements for allowing shifting to a requested operation mode may comprise correct vehicle position. Vehicle position may comprise vehicle position on the road comprising whether the vehicle is within a lane or crossing a line of a lane and/or geographical position comprising on which road and road type the vehicle is travelling. The step of determining vehicle position may be performed by means of any suitable sensor on board the vehicle comprising one or more cameras, laser scanners or the like. The step of determining vehicle position may be performed by means of a Global Navigation Satellite System, GNSS, e.g. a global positioning system, GPS, for determining the geographical position of the vehicle comprising position along the road and road type. Said certain predetermined requirements may thus comprise road type. Thus, certain vehicle position need to be fulfilled for allowing shifting to a requested operation mode.
Said certain predetermined requirements for allowing shifting to a requested operation mode may comprise external conditions in connection to the vehicle travelling along a road. External conditions may comprise weather conditions, road conditions and/or traffic conditions. The step of determining external conditions may be performed by means of any suitable means for determining external conditions comprising any suitable weather sensors, sensors for determining road conditions and sensors for determining traffic conditions. Thus, certain external conditions need to be fulfilled for allowing shifting to a requested operation mode.
Said certain predetermined requirements for allowing shifting to a requested operation mode may comprise state of driver. The step of determining state of driver may comprise any suitable sensor for detecting awareness of driver, whether driver is sleeping or the like.
According to an embodiment the method comprises the step of performing shifting to said requested operation mode if said certain predetermined requirements are determined to be fulfilled.
Thus a shifting performance to said requested operation mode is allowed if said certain predetermined requirements are determined to be fulfilled.
The certain predetermined requirements that need to be fulfilled may depend on to which operation mode shifting is requested to be performed.
The method thus comprises the step of determining requested shifting operation. The step of determining requested shifting operation comprises determining from which drive operation mode to which drive operation mode shifting has been requested.
The step of performing shifting to said requested operation mode if said certain predetermined requirements are determined to be fulfilled is arranged to allow a certain shifting depending on which of said certain predetermined requirement that are determined to be fulfilled.
According to an embodiment a shifting from manual drive operation mode to assisted drive operation mode may require that less certain predetermined requirements are fulfilled than a shifting from assisted drive operation mode to autonomous drive operation mode.
According to an embodiment a shifting to manual drive operation mode may require a certain driver awareness.
Shifting between different drive operation modes may require certain predetermined requirements in accordance with the examples in fig. 2.
According to an embodiment the method comprises the step of denying said shifting request if said certain predetermined requirements are determined not to be fulfilled.
Thus a shifting performance to said requested operation mode is denied if said certain predetermined requirements are determined not to be fulfilled.
The step of denying said shifting request if said certain predetermined requirements are determined not to be fulfilled is arranged to deny a certain shifting depending on which of said certain predetermined requirement that are determined not to be fulfilled.
The step of denying said shifting request if said certain predetermined requirements are determined not to be fulfilled comprises the step of informing driver of said shifting request being denied. The step of informing driver of said shifting request being denied may be performed by means of any suitable means for informing driver of said shifting request being denied, comprising visual means for visual information and/or sound means for audible information and/or tactile means for tactile information. Said visual means may comprise a display unit e.g. on the instrument panel or the like. Said sound means may comprise a voice message, an alarm or the like. Said tactile means may comprise vibrations in driver seat, steering wheel or the like.
According to an embodiment the method comprises the step of determining if certain predetermined requirements for a current drive operation mode are fulfilled; and, if said certain predetermined requirements for a current drive operation mode are not fulfilled, automatically safely stop said vehicle.
Said certain predetermined requirements for a current drive operation mode may comprise one or more of said certain predetermined requirements for allowing shifting to a requested operation mode.
Said certain predetermined requirements to be fulfilled for a current drive operation mode may comprise certain vehicle functions such as function of vehicle sensors for assisting in vehicle operation such as cameras, radars, laser scanners and/or vehicle functions relevant for vehicle operation such as vehicle lights, stabilizing system of the vehicle, vehicle brakes, steering actuators, vehicle engine, cooling system, suspension system etc. The step of determining if certain predetermined requirements are fulfilled may thus comprise determining vehicle function status by means of vehicle status determination means such as means for determining function of vehicle sensors, and means for determining function of other vehicle functions such as vehicle lights, stabilizing system of the vehicle, brakes, steering actuators, engine, cooling system, suspension system etc. Thus, certain vehicle functions need to be fulfilled for a current drive operation mode.
Said certain predetermined requirements to be fulfilled for a current drive operation mode may comprise existence of road marks along the road on which the vehicle is travelling. Said road marks may be marks on the road such as marks for dividing the road into lanes and marks on the road for marking side of the road. Said road marks may be posts or the like arranged on the side of the road. The step of determining if certain predetermined requirements are fulfilled may thus comprise determining road marks along the road, i.e. whether road marks exists along the road. The step of determining road marks may be performed by any suitable means for determining road marks such as on board sensors, e.g. cameras, laser scanners and/or radars.
Said certain predetermined requirements to be fulfilled for a current drive operation mode may comprise vehicle position. Vehicle position may comprise vehicle position on the road comprising whether the vehicle is within a lane or crossing a line of a lane and/or geographical position comprising on which road and road type the vehicle is travelling. The step of determining vehicle position may be performed by means of any suitable sensor on board the vehicle comprising one or more cameras, laser scanners or the like. The step of determining vehicle position may be performed by means of a Global Navigation Satellite System, GNSS, e.g. a global positioning system, GPS, for determining the geographical position of the vehicle comprising position along the road and road type. Said certain predetermined requirements may thus comprise road type. Thus, certain external conditions need to be fulfilled for a current drive operation mode.
Said certain predetermined requirements to be fulfilled for a current drive operation mode may comprise external conditions in connection to the vehicle travelling along a road. External conditions may comprise weather conditions, road conditions and/or traffic conditions. The step of determining external conditions may be performed by means of any suitable means for determining external conditions comprising any suitable weather sensors, sensors for determining road conditions and sensors for determining traffic conditions. Thus, certain vehicle position needs to be fulfilled for a current drive operation mode.
Said certain predetermined requirements to be fulfilled for a current drive operation mode may comprise state of driver. The step of determining state of driver may comprise any suitable sensor for detecting awareness of driver, whether driver is sleeping or the like.
Fig. 4 schematically illustrates a block diagram of a system I for facilitating safely controlling vehicle operation according to an embodiment of the present invention.
Said vehicle operation comprises a manual drive operation mode, an assisted drive operation mode and autonomous drive operation mode.
The system I comprises a control arrangement 100. Said control arrangement 100 may comprise any suitable control arrangement for facilitating safely controlling vehicle operation. Said control arrangement 100 may comprise one or more electronic control units, processing units, computers, server units or the like for facilitating safely controlling vehicle operation. Said control arrangement 100 may comprise control arrangement such as one or more electronic control units arranged on board said vehicle.
The system comprises a mode selection actuator arrangement 110 arranged for shifting between drive operation modes based on a request for shifting to a certain drive operation mode.
Said mode selection actuator arrangement 110 comprises according to an embodiment means for determining a requested shifting to a certain drive operation mode. Said mode selection actuator arrangement 110 is according to an embodiment means for determining a requested shifting to a certain drive operation mode.
Such a means for determining a requested shifting to a certain drive operation mode may according to an embodiment be comprised in the control arrangement 100. Such a means for determining a requested shifting to a certain drive operation mode may according to an embodiment be a separate means operably connected to the mode selection actuator arrangement 110 and/or the control arrangement 100.
The system I thus comprises means for determining a requested shifting to a certain drive operation mode.
The system comprises a mode selection actuator arrangement 110 arranged for shifting between manual drive operation mode and autonomous drive operation mode. Said mode selection actuator arrangement 110 is configured such that said shifting is arranged to be performed according to an escalating/deescalating scale of vehicle operation mode functionality in so far that said mode selection actuator arrangement 110 is configured such that said shifting always is arranged to be performed via said assisted drive operation mode.
Said mode selection actuator arrangement 110 comprises a manual drive operation mode selection means 112 for manual drive operation mode selection. Said manual drive operation mode selection means 112 is configured to handle manual drive operation mode requests comprising providing manual drive operation mode request and allowing shift to manual drive operation mode.
Said mode selection actuator arrangement 110 comprises an assisted drive operation mode selection means 114 for assisted drive operation mode selection. Said assisted drive operation mode selection means 114 is configured to handle assisted drive operation mode requests comprising providing assisted drive operation mode request and allowing shift to assisted drive operation mode. Said assisted drive operation mode selection means 114 is configured to handle shifting between manual drive operation mode and autonomous drive operation mode such that shift to assisted drive operation mode may be allowed based on a request to shift from manual mode to autonomous mode or a request to shift from autonomous mode to manual mode.
Said mode selection actuator arrangement 110 comprises an autonomous drive operation mode selection means 116 for autonomous drive operation mode selection. Said autonomous drive operation mode selection means 116 is configured to handle autonomous drive operation mode requests comprising providing autonomous drive operation mode request and allowing shift to autonomous drive operation mode.
According to an embodiment the system I comprises determining means 120 arranged to determine if certain predetermined requirements are fulfilled prior to performing shifting to a requested operation mode. Thus, the system comprises means 120 for determining if certain predetermined requirements are fulfilled prior to performing shifting to a requested operation mode.
The certain predetermined requirements that need to be fulfilled may depend on to which drive operation mode shifting is requested to be performed. Thus, said certain predetermined requirements for allowing shifting to another drive operation mode may depend on from which drive operation mode to which drive operation mode said requested shifting relates to. Thus, the predetermined requirements may differ depending on the requested shifting to a certain drive operation mode.
Said means 120 for determining if certain predetermined requirements are fulfilled prior to performing shifting to a requested operation mode comprises means 121 for determining vehicle function status. Vehicle function status may comprise any vehicle function status relevant for vehicle operation such as function of vehicle sensors for assisting in vehicle operation such as cameras, radars, laser scanners. Vehicle function status may comprise any vehicle function status relevant for vehicle operation such as function of vehicle lights, stabilizing system of the vehicle, brakes, steering actuators, engine, cooling system, suspension system etc. Said means for determining vehicle function status thus comprises means for determining function of vehicle sensors, and means for determining function of other vehicle functions such as vehicle lights, stabilizing system of the vehicle, brakes, steering actuators, engine, cooling system, suspension system etc.
Said means 120 for determining if certain predetermined requirements are fulfilled prior to performing shifting to a requested operation mode comprises means 122 for determining road marks along the road on which the vehicle is travelling. Said means for determining road marks may be any suitable sensor/sensors on board the vehicle such as one or more cameras, one or more laser scanner units and/or one or more radars. Said road marks may be any kind of detectable road marks for facilitating following of the road, e.g. lane keeping or the like. Said road marks may be marks on the road such as marks for dividing the road into lanes and marks on the road for marking side of the road. Said road marks may be posts or the like arranged on the side of the road.
Said means 120 for determining if certain predetermined requirements are fulfilled prior to performing shifting to a requested operation mode comprises means 123 for determining vehicle position.
Said means 123 for determining vehicle position comprises means for determining vehicle position on the road comprising determining whether the vehicle is within a lane or crossing a line of a lane. Said means for determining vehicle position on the road may comprise any suitable sensor on board the vehicle comprising one or more cameras, laser scanners or the like.
Said means 123 for determining vehicle position comprises according to an embodiment a Global Navigation Satellite System, GNSS, e.g. a global positioning system, GPS, for determining the geographical position of the vehicle comprising position along the road. Said means 123 for determining vehicle position comprises according to an embodiment map data for determining on which road the vehicle is travelling.
Said means 120 for determining if certain predetermined requirements are fulfilled prior to performing shifting to a requested operation mode comprises means 124 for determining road type. Said means 124 for determining road type may be comprised in said means 123 for determining vehicle position, i.e. said Global Navigation Satellite System and map data. Said means 124 for determining road type may comprise one or more on board sensors for detecting road typ.
Said means 120 for determining if certain predetermined requirements are fulfilled prior to performing shifting to a requested operation mode comprises means 125 for determining external conditions in connection to the vehicle driving along a road.
The means 125 for determining external conditions comprises means 125a for determining weather conditions in connection to the vehicle driving along said road.
The means 125a for determining weather conditions in connection to the vehicle driving along said road may comprise any suitable means for determining weather conditions.
The means 125a for determining weather conditions in connection to the vehicle driving along said road comprises one or more weather sensor units. The weather sensor units may comprise one or more rain sensors. The weather sensor units may comprise one or more temperature sensors. The weather sensor units may comprise one or more wind sensors. Said weather sensor units comprises on board sensors arranged on board said vehicle.
The means 125a for determining weather conditions in connection to the vehicle driving along said road comprises according to an embodiment means for extracting external weather data from one or more external weather data units comprising any suitable external server unit. The means 125a for determining weather conditions in connection to the vehicle driving along said road comprises one or more external weather data units.
Thus determined weather conditions may comprise any weather conditions that may affect vehicle operation, vehicle drive operation mode and possibility to shift between drive operation modes such as rain and extent of rain, snow and extent of snow, current temperature, wind conditions or the like.
The means 125 for determining external conditions comprises means 125b for determining road conditions in connection to the vehicle driving along said road.
The means 125b for determining road conditions in connection to the vehicle driving along said road comprises means for detecting road conditions in connection to the vehicle driving along said road. The means for detecting road conditions comprises any suitable detector for detecting the surface of the road along which the vehicle is travelling such as one or more cameras and/or one or more laser scanners and/or one or more radars.
The means 125b for determining road conditions in connection to the vehicle driving along said road comprises means for extracting information about road conditions from one or more external units comprising any suitable server unit.
Thus determined road conditions may comprise slippery road due to e.g. ice on the road, snow on the road, oil on the road, gravel on the road, water on the road, curves of the road, construction work along the road or other road conditions that may affect driving along the road comprising drive operation mode and suitability to shift between drive operation modes.
The means 125 for determining external conditions comprises means 125c for determining traffic conditions along said road.
The means 125c for determining traffic situation along said road comprises means for detecting traffic conditions in connection to the vehicle driving along said road. The means for detecting traffic conditions comprises any suitable detector for detecting other vehicles comprising detecting number of vehicles, frequency of vehicles, speed of vehicles, traffic flow, traffic jam etc. along the road on which the vehicle is travelling such as one or more cameras and/or one or more laser scanners and/or one or more radars.
The means 125c for determining traffic conditions in connection to the vehicle driving along said road and intended route of vehicle comprises means for extracting information about traffic conditions from one or more external units comprising any suitable server unit.
Said means 120 for determining if certain predetermined requirements are fulfilled prior to performing shifting to a requested operation mode comprises means 126 for determining state of driver of the vehicle. Said means 126 for determining state of driver may comprise any suitable sensor for detecting awareness of driver, whether driver is sleeping or the like.
According to an embodiment the system I comprises means 130 for allowing shifting to said requested operation mode if said certain predetermined requirements are determined to be fulfilled. Said means 130 for allowing shifting to said requested operation mode if said certain predetermined requirements are determined to be fulfilled is according to an embodiment comprised in said control arrangement 100.
Shifting between different drive operation modes may require certain predetermined requirements in accordance with the examples in fig. 2.
Said means 130 for allowing shifting to said requested operation mode if said certain predetermined requirements are determined to be fulfilled is thus arranged to allow a shifting performance.
Said means 130 for allowing shifting to said requested operation mode if said certain predetermined requirements are determined to be fulfilled is arranged to allow a certain shifting depending on which of said certain predetermined requirement that are determined to be fulfilled.
According to an embodiment a shifting from manual drive operation mode to assisted drive operation mode may require that less certain predetermined requirements are fulfilled than a shifting from assisted drive operation mode to autonomous drive operation mode.
According to an embodiment a shifting to manual drive operation mode may require a certain driver awareness.
According to an embodiment the system comprises means 140 for denying said shifting request if said certain predetermined requirements are determined not to be fulfilled. Said means 140 for denying said shifting request if said certain predetermined requirements are determined not to be fulfilled is according to an embodiment comprised in said control arrangement 100.
Said means 140 for denying said shifting request if said certain predetermined requirements are determined not to be fulfilled is arranged to deny a certain shifting depending on which of said certain predetermined requirement that are determined not to be fulfilled.
Said means 140 for denying said shifting request if said certain predetermined requirements are determined not to be fulfilled comprises means 142 for informing driver of said shifting request being denied. Said means 142 for informing driver of said shifting request being denied may comprise visual means for visual information and/or sound means for audible information and/or tactile means for tactile information. Said visual means may comprise a display unit e.g. on the instrument panel or the like. Said sound means may comprise a voice message, an alarm or the like. Said tactile means may comprise vibrations in driver seat, steering wheel or the like.
According to an embodiment the system I comprises means 150 for determining if certain predetermined requirements for a current drive operation mode are fulfilled. Said means 150 for determining if certain predetermined requirements for a current drive operation mode are fulfilled may comprise, i.e. correspond to, one or more of said means 120 for determining if certain predetermined requirements are fulfilled prior to performing shifting to a requested operation mode.
Said means 150 for determining if certain predetermined requirements for a current drive operation mode are fulfilled comprises means 151 for determining vehicle function status. Said means 151 may be comprised in, comprise or constitute said means 121. Vehicle function status may comprise any vehicle function status relevant for vehicle operation, i.e. relevant for a certain operation mode, such as function of vehicle sensors for assisting in vehicle operation such as cameras, radars, laser scanners. Vehicle function status may comprise any vehicle function status relevant for vehicle operation such as function of vehicle lights, stabilizing system of the vehicle, brakes, steering actuators, engine, cooling system, suspension system etc. Said means for determining vehicle function status thus comprises means for determining function of vehicle sensors, and means for determining function of other vehicle functions such as vehicle lights, stabilizing system of the vehicle, brakes, steering actuators, engine, cooling system, suspension system etc.
Said means 150 for determining if certain predetermined requirements for a current drive operation mode are fulfilled comprises means 152 for determining road marks along the road on which the vehicle is travelling. Said means 152 may be comprised in, comprise or constitute said means 122. Said means for determining road marks may be any suitable sensor/sensors on board the vehicle such as one or more cameras, one or more laser scanner units and/or one or more radars. Said road marks may be any kind of detectable road marks for facilitating following of the road, e.g. lane keeping or the like. Said road marks may be marks on the road such as marks for dividing the road into lanes and marks on the road for marking side of the road. Said road marks may be posts or the like arranged on the side of the road.
Said means 150 for determining if certain predetermined requirements for a current drive operation mode are fulfilled comprises means 153 for determining vehicle position. Said means 153 may be comprised in, comprise or constitute said means 123.
Said means 153 for determining vehicle position comprises means for determining vehicle position on the road comprising determining whether the vehicle is within a lane or crossing a line of a lane. Said means for determining vehicle position on the road may comprise any suitable sensor on board the vehicle comprising one or more cameras, laser scanners or the like.
Said means 153 for determining vehicle position comprises according to an embodiment a Global Navigation Satellite System, GNSS, e.g. a global positioning system, GPS, for determining the geographical position of the vehicle comprising position along the road. Said means 153 for determining vehicle position comprises according to an embodiment map data for determining on which road the vehicle is travelling.
Said means 150 for determining if certain predetermined requirements for a current drive operation mode are fulfilled comprises means 154 for determining road type. Said means 154 may be comprised in, comprise or constitute said means 124. Said means 154 for determining road type may be comprised in said means 153 for determining vehicle position, i.e. said Global Navigation Satellite System and map data. Said means 154 for determining road type may comprise one or more on board sensors for detecting road typ.
Said means 150 for determining if certain predetermined requirements for a current drive operation mode are fulfilled comprises means 155 for determining external conditions in connection to the vehicle driving along a road. Said means 155 may be comprised in, comprise or constitute said means 125.
The means 155 for determining external conditions comprises according to an embodiment means for determining weather conditions in connection to the vehicle driving along said road. Said means for determining weather conditions in connection to the vehicle driving along said road may be comprised in, comprise or constitute said means 125a.
Thus determined weather conditions may comprise any weather conditions that may affect vehicle operation, vehicle drive operation mode and possibility to shift between drive operation modes such as rain and extent of rain, snow and extent of snow, current temperature, wind conditions or the like.
The means 155 for determining external conditions comprises according to an embodiment means for determining road conditions in connection to the vehicle driving along said road. Said means for determining road conditions in connection to the vehicle driving along said road may be comprised in, comprise or constitute said means 125b.
Thus determined road conditions may comprise slippery road due to e.g. ice on the road, snow on the road, oil on the road, gravel on the road, water on the road, curves of the road, construction work along the road or other road conditions that may affect driving along the road comprising drive operation mode and suitability to shift between drive operation modes.
The means 155 for determining external conditions comprises according to an embodiment means for determining traffic conditions along said road. Said means for determining traffic conditions along said road may be comprised in, comprise or constitute said means 125c.
Traffic conditions may comprise number of vehicles, frequency of vehicles, speed of vehicles, traffic flow, traffic jam etc. along the road on which the vehicle is travelling.
Said means 150 for determining if certain predetermined requirements for a current drive operation mode are fulfilled comprises means 156 for determining state of driver of the vehicle. Said means 156 for determining state of drive may comprise any suitable sensor for detecting awareness of driver, whether driver is sleeping or the like.
According to an embodiment the system I comprises means 160 for automatically safely stop said vehicle if said certain predetermined requirements for a current drive operation mode are not fulfilled.
Said means 160 for automatically safely stop said vehicle if said certain predetermined requirements for a current drive operation mode are not fulfilled is according to an embodiment comprised in said control arrangement 100.
Said means 160 for automatically safely stop said vehicle if said certain predetermined requirements for a current drive operation mode are not fulfilled is according to an embodiment arranged to automatically safely stop said vehicle depending on which of said certain predetermined requirements that are determined not to be fulfilled and what the current drive operation mode is. Thus, a certain operation mode may require that at least some of said certain predetermined requirements are fulfilled in order for said means 160 not to automatically safely stop said vehicle and another operation mode may require that other or all of said certain predetermined requirements are fulfilled in order for said means 160 not to automatically safely stop said vehicle.
For example, if the vehicle is driving in an autonomous driving mode and certain requirements change, e.g. the type of road changes from a road on which autonomous drive is allowed to a road on which autonomous drive is not allowed, and driver is not in a state to take over control of the vehicle, said means 160 for automatically safely stop said vehicle will be activated so that said vehicle is automatically stopped in a safe way.
Said means 160 for automatically safely stop said vehicle may comprise means for determining surrounding, means for determining position of vehicle, means for controlling drive and stop of said vehicle, etc., so as to be able to safely bring the vehicle to a stop.
The control arrangement 100 is operably connected to said mode selection actuator arrangement 110 via a link 10a. The control arrangement 100 is via the link 10a arranged to receive a signal from said mode selection actuator arrangement 110 representing data for requested shifting to a certain drive operation mode.
The control arrangement 100 is operably connected to said manual drive operation mode selection means 112 via a link 12a. The control arrangement 100 is via the link 12a arranged to receive a signal from said means 112 representing data for request for shifting to manual drive operation mode.
The control arrangement 100 is operably connected to said assisted drive operation mode selection means 114 via a link 14a. The control arrangement 100 is via the link 14a arranged to receive a signal from said means 114 representing data for request for shifting to assisted drive operation mode.
The control arrangement 100 is operably connected to said autonomous drive operation mode selection means 116 via a link 16a. The control arrangement 100 is via the link 16a arranged to receive a signal from said means 116 representing data for request for shifting to autonomous drive operation mode.
The control arrangement 100 is operably connected to said means 120 for determining if certain predetermined requirements are fulfilled prior to performing shifting to a requested operation via a link 20a. The control arrangement 100 is via the link 20a arranged to send a signal to said means 120 representing data for requested drive operation mode.
The control arrangement 100 is operably connected to said means 121 for determining vehicle function status via a link 21. The control arrangement 100 is via the link 21 arranged to receive a signal from said means 121 representing data for vehicle function status comprising data for function of one or more vehicle sensors and/or data for function of vehicle functions such as vehicle lights, stabilizing system of the vehicle, brakes, steering actuators, engine, cooling system, suspension system etc.
The control arrangement 100 is operably connected to said means 122 for determining road marks along the road on which the vehicle is travelling via a link 22. The control arrangement 100 is via the link 22 arranged to receive a signal from said means 122 representing data for existence of road marks and where applicable data for type of road marks.
The control arrangement 100 is operably connected to said means 123 for determining vehicle position via a link 23. The control arrangement 100 is via the link 23 arranged to receive a signal from said means 123 representing data vehicle position comprising data for vehicle position on said road and/or geographical vehicle position comprising where applicable data for type of road on which said vehicle is positioned.
The control arrangement 100 is operably connected to said means 124 for determining road type via a link 24. The control arrangement 100 is via the link 24 arranged to receive a signal from said means 124 representing data for road type.
The control arrangement 100 is operably connected to said means 125a for determining weather conditions in connection to the vehicle driving along said road via a link 25a. The control arrangement 100 is via the link 25a arranged to receive a signal from said means 125a representing data for weather conditions in connection to the vehicle.
The control arrangement 100 is operably connected to said means 125b for determining road conditions in connection to the vehicle driving along said road via a link 25b. The control arrangement 100 is via the link 25b arranged to receive a signal from said means 125b representing data for road conditions in connection to the vehicle.
The control arrangement 100 is operably connected to said means 125c for determining traffic conditions along said road via a link 25c. The control arrangement 100 is via the link 25c arranged to receive a signal from said means 125c representing data for traffic conditions in connection to the vehicle.
The control arrangement 100 is operably connected to said means 126 for determining state of driver via a link 26. The control arrangement 100 is via the link 26 arranged to receive a signal from said means 126 representing data for state of driver.
The control arrangement 100 is operably connected to said means 120 for determining if certain predetermined requirements are fulfilled prior to performing shifting to a requested operation via a link 20b. The control arrangement 100 is via the link 20b arranged to send a signal to said means 120 representing data for determined predetermined requirements to be fulfilled based on requested operation mode.
The control arrangement 100 is operably connected to said means 130 for allowing shifting to said requested operation mode if said certain predetermined requirements are determined to be fulfilled via a link 30a. The control arrangement 100 is via the link 30a arranged to send a signal to said means 130 representing data for certain predetermined requirements being fulfilled for the requested drive operation mode. The means 130 may be comprised in said control arrangement.
The control arrangement 100 is operably connected to said means 130 for allowing shifting to said requested operation mode if said certain predetermined requirements are determined to be fulfilled via a link 30b. The control arrangement 100 is via the link 30b arranged to receive a signal from said means 130 representing data for allowing shifting to said requested operation mode. The means 130 may be comprised in said control arrangement.
The control arrangement 100 is operably connected to said manual drive operation mode selection means 112 via a link 12b. The control arrangement 100 is via the link 12b arranged to send a signal to said means 112 representing data for performing shifting to manual drive operation mode based on data for allowed shifting to manual drive from said means 130.
The control arrangement 100 is operably connected to said assisted drive operation mode selection means 114 via a link 14b. The control arrangement 100 is via the link 14b arranged to send a signal to said means 114 representing data for performing shifting to assisted drive operation mode based on data for allowed shifting to assisted drive from said means 130.
The control arrangement 100 is operably connected to said autonomous drive operation mode selection means 116 via a link 16b. The control arrangement 100 is via the link 16b arranged to send a signal to said means 116 representing data for performing shifting to autonomous drive operation mode based on data for allowed shifting to autonomous drive from said means 130.
The control arrangement 100 is operably connected to said means 140 for denying said shifting request if said certain predetermined requirements are determined not to be fulfilled via a link 40a. The control arrangement 100 is via the link 40a arranged to send a signal to said means 140 representing data for certain predetermined requirements not being fulfilled for the requested drive operation mode. The means 140 may be comprised in said control arrangement.
The control arrangement 100 is operably connected to said means 140 for denying said shifting request if said certain predetermined requirements are determined not to be fulfilled via a link 40b. The control arrangement 100 is via the link 40b arranged to receive a signal from said means 140 representing data for denying shifting to said requested operation mode. The means 140 may be comprised in said control arrangement.
The control arrangement 100 is operably connected to said mode selection actuator arrangement 110 via a link 10. The control arrangement 100 is via the link 10 arranged to send a signal to said mode selection actuator arrangement 110 representing data for requested shifting being denied.
The control arrangement 100 is operably connected to said means 142 for informing driver of said shifting request being denied via a link 42. The control arrangement 100 is via the link 42 arranged to receive a signal from said means 142 representing data for denying shifting to said requested operation mode.
The control arrangement 100 is operably connected to said means 150 for determining if certain predetermined requirements for a current drive operation mode are fulfilled via a link 50a. The control arrangement 100 is via the link 50a arranged to send a signal to said means 150 representing data for current drive operation mode.
The control arrangement 100 is operably connected to said means 151 for determining vehicle function status via a link 51. The control arrangement 100 is via the link 51 arranged to receive a signal from said means 151 representing data for vehicle function status comprising data for function of one or more vehicle sensors and/or data for function of vehicle functions such as vehicle lights, stabilizing system of the vehicle, brakes, steering actuators, engine, cooling system, suspension system etc.
The control arrangement 100 is operably connected to said means 152 for determining road marks along the road on which the vehicle is travelling via a link 52. The control arrangement 100 is via the link 52 arranged to receive a signal from said means 152 representing data for existence of road marks and where applicable data for type of road marks.
The control arrangement 100 is operably connected to said means 153 for determining vehicle position via a link 53. The control arrangement 100 is via the link 53 arranged to receive a signal from said means 153 representing data vehicle position comprising data for vehicle position on said road and/or geographical vehicle position comprising where applicable data for type of road on which said vehicle is positioned.
The control arrangement 100 is operably connected to said means 154 for determining road type via a link 54. The control arrangement 100 is via the link 54 arranged to receive a signal from said means 154 representing data for road type.
The control arrangement 100 is operably connected to said means 155 for determining external conditions via a link 55. The control arrangement 100 is via the link 55 arranged to receive a signal from said means 155 representing data for external conditions in connection to the vehicle comprising data for weather conditions in connection to the vehicle and/or data for road conditions in connection to the vehicle and/or data for traffic conditions in connection to the vehicle.
The control arrangement 100 is operably connected to said means 156 for determining state of driver via a link 56. The control arrangement 100 is via the link 56 arranged to receive a signal from said means 156 representing data for state of driver.
The control arrangement 100 is operably connected to said means 150 for determining if certain predetermined requirements for a current drive operation mode are fulfilled via a link 50b. The control arrangement 100 is via the link 50b arranged to send a signal to said means 150 representing data for determined predetermined requirements to be fulfilled based on current drive operation mode.
The control arrangement 100 is operably connected to said means 160 for automatically safely stop said vehicle if said certain predetermined requirements for a current drive operation mode are not fulfilled via a link 60. The control arrangement 100 is via the link 60 arranged to send a signal to said means 160 representing data for certain predetermined requirements for a current drive operation mode not being fulfilled comprising data for activation of said means 160 automatically safely stop said vehicle.
The foregoing description of the preferred embodiments of the present invention has been provided for the purposes of illustration and description. It is not intended to be exhaustive or to limit the invention to the precise forms disclosed. Obviously, many modifications and variations will be apparent to practitioners skilled in the art. The embodiments were chosen and described in order to best explain the principles of the invention and its practical applications, thereby enabling others skilled in the art to understand the invention for various embodiments and with the various modifications as are suited to the particular use contemplated.

Claims (11)

1. A method for facilitating safely controlling vehicle operation of a vehicle (V), said vehicle operation comprising a manual drive operation mode, an assisted drive operation mode and an autonomous drive operation mode, characterized by the step (S1) of shifting between manual drive operation mode and autonomous drive operation mode by means of a mode selection actuator arrangement (110), said shifting step being performed according to an escalating/deescalating scale of vehicle operation mode functionality in so far that said mode selection actuator arrangement (110) is configured such that said shifting always is performed via said assisted drive operation mode.
2. A method according to claim 1, comprising the step of, prior to performing shifting to a requested operation mode, determining by determining means (120) if certain predetermined requirements are fulfilled.
3. A method according to claim 1 or 2, comprising the step of performing shifting to said requested operation mode if said certain predetermined requirements are determined to be fulfilled.
4. A method according to claim 1 or 2, comprising the step of denying said shifting request if said certain predetermined requirements are determined not to be fulfilled.
5. A method according to any of claims 1-3, comprising the step of determining if certain predetermined requirements for a current drive operation mode are fulfilled; and, if said certain predetermined requirements for a current drive operation mode are not fulfilled, automatically safely stop said vehicle.
6. A system (I) for facilitating safely controlling vehicle operation of a vehicle (V), said vehicle operation comprising a manual drive operation mode, an assisted drive operation mode and autonomous drive operation mode, characterized by a mode selection actuator arrangement (110) arranged for shifting between manual drive operation mode and autonomous drive operation mode, said mode selection actuator arrangement being configured such that said shifting is arranged to be performed according to an escalating/deescalating scale of vehicle operation mode functionality in so far that said mode selection actuator arrangement (110) is configured such that said shifting always is arranged to be performed via said assisted drive operation mode.
7. A system according to claim 6, comprising determining means (120) arranged to determine if certain predetermined requirements are fulfilled prior to performing shifting to a requested operation mode.
8. A system according to claim 6 or 7, comprising means (130) for allowing shifting to said requested operation mode if said certain predetermined requirements are determined to be fulfilled.
9. A system according to claim 6 or 7, comprising means (140) for denying said shifting request if said certain predetermined requirements are determined not to be fulfilled.
10. A system according to any of claims 6-9, comprising means (150) for determining if certain predetermined requirements for a current drive operation mode are fulfilled; and means (160) for automatically safely stop said vehicle if said certain predetermined requirements for a current drive operation mode are not fulfilled.
11. A vehicle (V) comprising an arrangement (I) according to any of claims 6-10.
SE1751365A 2017-11-03 2017-11-03 Method and system for shifting between manual and autonomous drive operation modes in vehicles SE541529C2 (en)

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